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[NOMERGE] some hacks, to get jpeg encoding up and running, using turbojpeg #130

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[NOMERGE] some hacks, to get jpeg encoding up and running, using turbojpeg #130

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8875cd0
some hacks, to get jpeg encoding up and running, using turbojpeg
SGSSGene May 28, 2021
73c42d4
Fixing player image retrieval
SGSSGene May 30, 2021
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2 changes: 2 additions & 0 deletions projects/samples/contests/robocup/controllers/player/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@ else
GOAL := $(MAKECMDGOALS)
endif

LIBRARIES += -lturbojpeg

defaut: release

release debug profile: clients
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30 changes: 19 additions & 11 deletions projects/samples/contests/robocup/controllers/player/player.cpp
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Expand Up @@ -44,13 +44,15 @@ void usleep(__int64 usec) {
#define ByteSizeLong ByteSize
#endif

// #define JPEG_COMPRESSION 1 // uncomment this to test JPEG compression
#define JPEG_COMPRESSION 1 // uncomment this to test JPEG compression

// #define TURBOJPEG 1
#define TURBOJPEG 1
// It turns out that the libjpeg interface to turbojpeg runs faster than the native turbojpeg interface
// Alternatives to be considered: NVIDIA CUDA nvJPEG Encoder, Intel IPP JPEG encoder
#ifdef TURBOJPEG
#include <turbojpeg.h>
#define TRUE true
#define FALSE false
#else
#include <jpeglib.h>
#endif
Expand Down Expand Up @@ -200,7 +202,7 @@ static void encode_jpeg(const unsigned char *image, int width, int height, int q
unsigned char **buffer) {
#ifdef TURBOJPEG
tjhandle compressor = tjInitCompress();
tjCompress2(compressor, image, width, 0, height, TJPF_RGB, buffer, size, TJSAMP_444, quality, TJFLAG_FASTDCT);
tjCompress2(compressor, image, width, 0, height, TJPF_RGB, buffer, size, TJSAMP_422, quality, TJFLAG_FASTDCT);
tjDestroy(compressor);
#else
struct jpeg_compress_struct cinfo;
Expand Down Expand Up @@ -557,26 +559,32 @@ class PlayerServer {
measurement->set_name(camera->getName());
measurement->set_width(width);
measurement->set_height(height);
measurement->set_quality(-1); // raw image (JPEG compression not yet supported)
const unsigned char *rgba_image = camera->getImage();
// measurement->set_quality(-1); // raw image (JPEG compression not yet supported)
const unsigned char *bgra_image = camera->getImage();
const int rgb_image_size = width * height * 3;
unsigned char *rgb_image = new unsigned char[rgb_image_size];
for (int i = 0; i < width * height; i++) {
rgb_image[3 * i] = rgba_image[4 * i];
rgb_image[3 * i + 1] = rgba_image[4 * i + 1];
rgb_image[3 * i + 2] = rgba_image[4 * i + 2];
rgb_image[3 * i] = bgra_image[4 * i + 2];
rgb_image[3 * i + 1] = bgra_image[4 * i + 1];
rgb_image[3 * i + 2] = bgra_image[4 * i + 0];
}
measurement->set_image(rgb_image, rgb_image_size);
delete[] rgb_image;

#ifdef JPEG_COMPRESSION
// testing JPEG compression (impacts the performance)
unsigned char *buffer = NULL;
long unsigned int bufferSize = 0;
encode_jpeg(rgba_image, width, height, 95, &bufferSize, &buffer);
encode_jpeg(rgb_image, width, height, 95, &bufferSize, &buffer);

measurement->set_quality(95);
measurement->set_image(buffer, bufferSize);
free_jpeg(buffer);
buffer = NULL;
#else
measurement->set_image(rgb_image, rgb_image_size);
#endif
delete[] rgb_image;



continue;
}
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